CN106345781B - A kind of photovoltaic array straddle cleaning method and device - Google Patents
A kind of photovoltaic array straddle cleaning method and device Download PDFInfo
- Publication number
- CN106345781B CN106345781B CN201611019978.8A CN201611019978A CN106345781B CN 106345781 B CN106345781 B CN 106345781B CN 201611019978 A CN201611019978 A CN 201611019978A CN 106345781 B CN106345781 B CN 106345781B
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- cleaning machine
- control system
- photovoltaic panel
- carrier
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- 238000004140 cleaning Methods 0.000 title claims abstract description 378
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000000875 corresponding effect Effects 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000006698 induction Effects 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 4
- 239000000428 dust Substances 0.000 claims description 3
- 238000007790 scraping Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 239000006228 supernatant Substances 0.000 abstract description 12
- 238000005406 washing Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
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- 230000007704 transition Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/04—Cleaning by suction, with or without auxiliary action
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- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of photovoltaic array straddle cleaning method and devices, include: control system obtain cleaning machine position on plate, control carrier adjust to cleaning machine on plate or with the matched posture of photovoltaic panel where cleaning machine on plate, control system control carrier band movable plate supernatant washing machine leaves photovoltaic panel；Control system controls shifter and drives carrier mobile to target photovoltaic panel, and when requiring with the satisfaction placement of the positional relationship of target photovoltaic panel, control system control shifter takes corresponding actions；Control system controls the relative position of carrier adjustment and target photovoltaic panel, and controls carrier and cleaning machine on plate is placed in target photovoltaic panel；The mobile cleaning target photovoltaic panel of cleaning machine on control system control panel.The present invention reduces the complexity of artificial cleaning photovoltaic panel, can promote cleaning efficiency, and extend the service life of photovoltaic panel, the promotion significant effect of generating efficiency and utilization rate to photovoltaic panel.
Description
Technical field
The present invention relates to solar energy photovoltaic panel technical fields, more specifically to a kind of photovoltaic array straddle cleaning side
Method and device.
Background technique
With the requirement of environmental protection and the promotion of sustainable energy demand, the specific gravity of clean energy resource accounts for the ratio of total energy year by year
It is promoted, the cleaning demand of photovoltaic plate array gradually heats up currently on the market.
Photovoltaic array need the reason of cleaning it is main there are two: one, dirt will lead to photovoltaic plate surface and generate thermally conductive difference,
It ultimately causes " hot spot ", damages photovoltaic module；Two, dirt leads to the reduction of photovoltaic panel surface transmission rate, to influence photovoltaic board group
The photothermal conversion rate of part array, i.e. reduction generating efficiency.Therefore in order to guarantee that generating efficiency does not decline, photovoltaic module is avoided to damage
Bad, photovoltaic panel cleaning is necessary.
Currently, existing photovoltaic array cleaning method includes several typical categories: the first, it with high-pressure watercart is rinsed, second,
It is cleaned on photovoltaic panel plate with dry brush washer, third, with ground motion chassis machine arm round brush cleaning vehicle.But aforesaid way is all
There are problems: in first way, high pressure water flushing scheme extremely water consumption, efficiency is lower；In second scheme, on photovoltaic panel plate
The number of devices that the unit cleaning area of dry brush scheme needs to put into is more, and cleaning effect is undesirable；In third scheme, ground
The reliability for moving chassis machine arm round brush cleaning vehicle is low, and operation difficulty is big, is also easy to damage photovoltaic panel, waste is easily caused to provide
Source, damage cleaning object problem.
In conclusion how to provide a kind of high-efficient, intelligentized cleaning technique, be current those skilled in the art urgently
It solves the problems, such as.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of photovoltaic array straddle cleaning method, this method can make photovoltaic
The cleaning of array is easier, efficient, and intelligent operation more rationally and is stablized.
It is a further object of the present invention to provide a kind of photovoltaic arrays for realizing above-mentioned photovoltaic array straddle cleaning method
Straddle cleaning device, the device enable to the cleaning of photovoltaic panel easier, and realize certainly for realizing the above method
Dynamicization cleaning.
To achieve the goals above, the invention provides the following technical scheme:
A kind of photovoltaic array straddle cleaning method is suitable for cleaning machine, shifter and control system on carrier, plate
Cleaning device, this method comprises:
S1: the control system obtains cleaning machine position on the plate, the control carrier adjust to it is described
On plate cleaning machine or with the matched posture of photovoltaic panel where cleaning machine on the plate, the control system controls the carrier band
It moves cleaning machine on the plate and leaves the photovoltaic panel；
S2: the control system controls the shifter and drives the carrier mobile to target photovoltaic panel, when with it is described
When the positional relationship satisfaction placement of target photovoltaic panel requires, the control system controls the shifter and takes corresponding actions；
S3: the control system controls the relative position of the carrier adjustment and the target photovoltaic panel, and controls institute
It states carrier cleaning machine on the plate is placed in the target photovoltaic panel；
S4: the control system controls the mobile cleaning target photovoltaic panel of cleaning machine on the plate.
Preferably, further includes:
On comprising a plate when cleaning machine, the control system is controlled described in the mobile cleaning of cleaning machine on the plate
When target photovoltaic panel, the control system controls the shifter and cleaning machine on the plate is followed to be moved, the control system
System detects distance to bit flag of the cleaning machine away from the target photovoltaic panel on the plate, when detecting that the distance is less than or waits
When default minimum range, cleaning machine stops movement on the shifter and the plate, and returns and execute the S1.
On comprising multiple plates when cleaning machine, the control system is controlled described in the mobile cleaning of cleaning machine on the plate
When target photovoltaic panel, the control system controls cleaning machine on the carrier and the plate and releases connection, the control system
Controlling the shifter, to complete cleaning machine on the plate that the corresponding target photovoltaic panel is cleaned mobile to any, or to institute
The initial position for stating shifter is mobile；The control system detects in place mark of the cleaning machine away from the target photovoltaic panel on the plate
The distance of will, when detecting that the distance is less than or equal to default minimum range, cleaning machine is shut down on the plate；And return to institute
State S1.
Preferably, in the S1, cleaning machine is left described on the control system control carrier drive plate
The step of photovoltaic panel includes:
The control system controls the carrier and is packed up cleaning machine on the plate in a manner of grabbing or adsorbing；
Or, there is the carrier of bearing function to be moved to one of cleaning machine on the plate for the control system control
Side, cleaning machine is automatically moved on the carrier on the plate；
Or, the carrier of the control system control bridge like connects the photovoltaic panel and the target photovoltaic panel, institute
Cleaning machine on plate is stated to be automatically moved on the carrier.
Preferably, in the S1, cleaning machine is left described on the control system control carrier drive plate
The step of photovoltaic panel, further includes:
Cleaning machine sends induction information between the carrier on the control system control plate, when on the plate
After cleaning machine receives the feedback signal of the carrier, the control system controls the carrier and stops operation, the control
System processed obtains on plate cleaning machine signal in place.
Preferably, the S2 includes:
After getting cleaning machine signal in place on the plate, the control system controls removes described in the shifter drive
It is mobile to the target photovoltaic panel to transport device；
The control system control detection is arrived at a distance from bit flag with the target photovoltaic panel, is put when the distance meets
It sets when requiring, the control system controls the shifter and slows down and adjust the shifter and the target photovoltaic panel in place
The positional relationship of mark, the control system controls the shifter and takes corresponding actions after the completion of adjustment.
Preferably, the S3 includes:
S31: the control system controls the location information that the carrier detects the target photovoltaic panel, the control system
System adjusts the control on the plate on the carrier after the posture of cleaning machine according to the location information of the target photovoltaic panel
System processed controls the carrier and cleaning machine on the plate is placed in the target photovoltaic panel；
S32: whether in place the control system detects the positional relationship of cleaning machine and the target photovoltaic panel on the plate；
If it has, then continuing to execute the S4；The S31 is executed if it has not, then returning.
A kind of photovoltaic array straddle cleaning device, including carrier, shifter, control system and for cleaning photovoltaic panel
Cleaning machine on plate；The control system is connected with cleaning machine, carrier and shifter control on the plate respectively；
The control system is for obtaining cleaning machine position on plate, the control carrier adjust to the plate
Cleaning machine controls the carrier and drives institute with the cleaning machine place matched posture of photovoltaic panel, the control system on the plate
It states cleaning machine on plate and leaves the photovoltaic panel；Controlling the shifter drives the carrier mobile to target photovoltaic panel, when with
When the positional relationship satisfaction placement to bit flag of the target photovoltaic panel requires, the control system controls the shifter and adopts
Take corresponding actions；The relative position of the carrier adjustment and the target photovoltaic panel is controlled, and controls the carrier for institute
Cleaning machine on plate is stated to be placed in the target photovoltaic panel；Control the mobile cleaning target photovoltaic panel of cleaning machine on the plate.
Preferably, the control system includes:
Control system ontology, for carrying out operation and control to cleaning machine on the carrier, the plate and the shifter
System, control system ontology control connects the carrier, cleaning machine and the shifter on the plate；
For the position-detection sensor of test object position, the position-detection sensor is set to the carrier
On, and connect with the control system ontology；
And/or it is set for obtaining with the range sensor of the tag distance in place of the target photovoltaic panel, the sensor
It is placed on the shifter or the carrier, and is connect with the control system ontology；
And/or the sensors in place whether being placed in the target photovoltaic panel for incuding cleaning machine on the plate, institute
It states sensors in place to be set on the plate on cleaning machine, and is connect with the control system ontology；
And/or it is used for when cleaning machine cleans the target photovoltaic panel on the plate, cleaning machine and institute on the detection plate
The distance measuring sensor of the tag distance in place of target photovoltaic panel is stated, the distance measuring sensor is set on the plate on cleaning machine,
And it is connect with the control system ontology.
Preferably, cleaning machine includes cleaning machine main body frame and being set to cleaning machine main body on the plate on plate on the plate
Cleaning device on plate on frame, on the plate cleaning device include brush roll, and/or hydraulic nozzle, and/or scraper plate scraping article and/
Or dust catcher；
The carrier include mechanical arm or have multivariant link mechanism；
The shifter includes moving parts and the navigation system that is set on the moving parts, the navigation system packet
Include GPS navigation device, and/or laser navigation device, and/or two-dimensional code scanning omniselector, and/or magnetic stripe omniselector.
Preferably, cleaning machine on shifter control one plate of connection；
Or cleaning machine on shifter control at least two plates of connection；
Or the control system connects at least two shifters, at least two shifter cross-over control connections are more
Cleaning machine on a plate.
In photovoltaic array straddle cleaning method provided by the present invention, by three cleaning machine, carrier, shifter function on plate
Energy device completes the mobile cleaning to photovoltaic panel, executes control to the operation of above three device by control system, realizes
To the cleaning operation of photovoltaic panel, and realize movement and conversion of the cleaning machine between different photovoltaic panels on plate.
The photovoltaic array straddle cleaning method of intelligent control provided by the present invention greatly reduces the cleaning of pilot steering class
Equipment cleans the complexity of photovoltaic panel, can promote cleaning efficiency, and extend the service life of photovoltaic panel.Using above-mentioned apparatus into
Row cleaning, for having compared cleaning equipment in the prior art, cost input is lower, and when being able to extend the use of cleaning equipment
Between, higher contribution is all had in terms of the promotion of generating efficiency and utilization rate to photovoltaic panel.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the flow chart of photovoltaic array straddle cleaning method provided by the present invention；
Fig. 2 is the schematic diagram of photovoltaic array straddle cleaning device specific embodiment one provided by the present invention；
Fig. 3 is the schematic diagram of photovoltaic array straddle cleaning device specific embodiment two provided by the present invention；
Fig. 4 is the schematic diagram of photovoltaic array straddle cleaning device specific embodiment three provided by the present invention；
Fig. 5 is the schematic diagram of photovoltaic array straddle cleaning device specific embodiment four provided by the present invention.
In figure 1 above -5:
1 it is cleaning machine on plate, 2 be carrier, 3 be shifter, 4 is photovoltaic panel.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of photovoltaic array straddle cleaning method, and this method can make the clear of photovoltaic array plate
Wash it is easier, efficient, and intelligent operation more rationally and stablize.
Another core of the invention is to provide a kind of photovoltaic array for realizing above-mentioned photovoltaic array straddle cleaning method
Straddle cleaning device, the device enable to the cleaning of photovoltaic panel easier, and realize certainly for realizing the above method
Dynamicization cleaning.
Fig. 1 to Fig. 5 is please referred to, Fig. 1 is the flow chart of photovoltaic array straddle cleaning method provided by the present invention；Fig. 2 is extremely
Fig. 5 is respectively the signal of photovoltaic array straddle cleaning device specific embodiment one provided by the present invention to specific embodiment four
Figure.
A kind of photovoltaic array straddle cleaning method provided by the present invention is mainly used between photovoltaic panel string and photovoltaic panel
The cleaning that photovoltaic panel is carried out between row, is primarily adapted for use in the cleaning with cleaning machine, shifter and control system on carrier, plate
Device, this method specifically includes the following steps:
Step S1: control system obtain plate on cleaning machine position, control carrier adjust to cleaning machine on plate or
With the matched posture of photovoltaic panel where cleaning machine on plate, control system control carrier band movable plate supernatant washing machine leaves photovoltaic panel.
It should be noted that carrier adjustment posture is used to adapt to the connection with cleaning machine on plate, plate supernatant in step S1
Washing machine is generally arranged at initial position, and initial position is typically located in photovoltaic panel, it is also possible to which setting is cleaned on memory plane
The position of machine, carrier before cleaning machine, need to adjust the connection posture with cleaning machine on plate, so as to right on connecting plate
Cleaning machine is picked up on plate.In the present embodiment by the way of cleaning machine position on first acquisition plate, specifies and cleaned on plate
The position of machine adjusts posture in control carrier.The connection of cleaning machine can be understood as on carrier and plate on carrier and plate
Cleaning machine has carried out connection rigid or flexible, so that carrier is mobile by itself moving band movable plate supernatant washing machine.To remove
Transporting device is connection as control of the mechanical arm to cleaning machine on plate of cleaning machine on carrier and plate: on plate for mechanical arm
Pickup, clamping, absorption, support load, lifting of cleaning machine etc..Control system control carrier band movable plate supernatant washing machine leaves present bit
It sets, refers to that carrier is moved under control of the control system, placement location is left with band movable plate supernatant washing machine or leave
The photovoltaic panel being currently located.In step sl, it does not limit carrier band movable plate supernatant washing machine is moved to where, is actually using
When, usually cleaning machine on plate is picked up or is moved away by carrier, so that cleaning machine and original position are detached from plate.Above-mentioned carrier can
Think the clamping tooling with mechanical arm, or is other toolings mobile for cleaning machine on control panel.This step completes
Pickup of the carrier to cleaning machine on plate, so as to movement of the carrier with movable plate supernatant washing machine in subsequent operation.
Step S2: control system controls shifter and drives carrier mobile to target photovoltaic panel, when with target photovoltaic panel
When positional relationship satisfaction placement requires, control system control shifter takes corresponding actions.
It should be noted that control system is to execute the main body of operation, and control system controls shifter and moves in step S2
It is dynamic, since carrier is connect with shifter, so the mobile drive carrier of shifter is mobile.The moving process is constantly to mesh
Mark the region progress of photovoltaic panel.When the positional relationship that shifter moves to target photovoltaic panel, which meets placement, to be required, control system
System control shifter takes corresponding actions.It specifically, can position by induction targets photovoltaic panel or induction targets photovoltaic
The position to bit flag of plate, after sensing this to bit flag, then the positional relationship both illustrated, which meets to place, to be required, control
System then can control shifter stopping.In one more reliable embodiment, control system issues move to shifter,
Move may include the location information in target photovoltaic panel region, and shifter can be by built-in navigation equipment to target light
It is mobile to lie prostrate plate region.Optionally, above-mentioned to take corresponding operating mobile etc. to stop.
Step S3: control system controls the relative position of carrier adjustment and target photovoltaic panel, and controls carrier for plate
Upper cleaning machine is placed in target photovoltaic panel.
It should be noted that control system is to execute the main body of operation, and control system adjusts the position of carrier in step S3
It sets, to adjust the relative position of carrier Yu target photovoltaic panel, since cleaning machine is connection status on carrier and plate, adjusts
The relative position of carrier and target photovoltaic panel, the relative position of cleaning machine and target photovoltaic panel on adjustable plate, so that plate
The relative position of upper cleaning machine and target photovoltaic panel is more convenient for the placement of cleaning machine on plate.Control system controls carrier will be on plate
Cleaning machine is placed in target photovoltaic panel, refers to for cleaning machine on plate being placed in target photovoltaic panel, and cleaning machine is logical on plate
The ready position crossing the movement that will start that self-adjusting mode can reach and cleaning.
Step S4: the mobile cleaning target photovoltaic panel of cleaning machine on control system control panel.
It should be noted that control system is to execute the main body of operation, cleaning machine on control system control panel in step S4
Starting, cleaning machine can be moved in photovoltaic panel and to the device that photovoltaic panel is cleaned on plate, so after starting, on plate
Cleaning machine can carry out mobile cleaning in photovoltaic panel.
In photovoltaic array straddle cleaning method provided by the present invention, by three cleaning machine, carrier, shifter function on plate
Energy device completes the mobile cleaning to photovoltaic panel, executes control to the operation of above three device by control system, realizes
To the cleaning operation of photovoltaic panel, and realize movement and conversion of the cleaning machine between different photovoltaic panels on plate.
The photovoltaic array straddle cleaning method of intelligent control provided by the present invention greatly reduces the cleaning of pilot steering class
Equipment cleans the complexity of photovoltaic panel, can promote cleaning efficiency, and extend the service life of photovoltaic panel.Using above-mentioned apparatus into
Row cleaning, for having compared cleaning equipment in the prior art, cost input is lower, and when being able to extend the use of cleaning equipment
Between, higher contribution is all had in terms of the promotion of generating efficiency and utilization rate to photovoltaic panel.
On the basis of above-described embodiment, for cleaning machine starting on control system control panel in step S4 and in target
The step of mobile cleaning is carried out in photovoltaic panel, further includes the following contents:
On comprising a plate when cleaning machine, on control system control panel when the mobile cleaning target photovoltaic panel of cleaning machine, control
System control shifter processed follows cleaning machine on plate to be moved, cleaning machine arriving away from target photovoltaic panel in control system detection plate
The distance of bit flag, when detecting that distance is less than or equal to default minimum range, cleaning machine stops movement on shifter and plate,
And return to step S1.
On comprising multiple plates when cleaning machine, on control system control panel when the mobile cleaning target photovoltaic panel of cleaning machine, control
Cleaning machine, which releases, on system control carrier and plate processed connects, and control system controls shifter and completes corresponding target light to any
It is mobile to lie prostrate cleaning machine on the plate of plate cleaning, or mobile to the initial position of shifter；In control system detection plate cleaning machine away from
The distance to bit flag of target photovoltaic panel, when detecting that distance is less than or equal to default minimum range, cleaning machine is closed on plate
Stop；And return step S1.
It should be noted that the number comprising cleaning machine on plate indicated is that the cooperation of cleaning machine on shifter and plate is closed
System, what above-mentioned two situations illustrated respectively is that cleaning machine is one-to-one and one-to-many situation on shifter and plate.In addition, mobile
Matching relationship when what the matching relationship of cleaning machine showed on device and plate is control, is not to be fixedly connected with relationship, that is to say, that
Shifter can be cooperatively connected with cleaning machine on a plate or shifter can be with cleaning machine on two or more plates
Connection.
Above-mentioned control system control carrier starting is on plate in state macroscopically to the grasping manipulation of cleaning machine on plate
Cleaning machine has left former photovoltaic panel under the drive of carrier or has left former setting position.In any one above-mentioned embodiment
On basis, the present invention provides a variety of connections of cleaning machine on carrier and plate, move mode is driven, in above-mentioned steps S1,
Control system control carrier band movable plate supernatant washing machine the step of leaving photovoltaic panel includes:
Control system control carrier is packed up cleaning machine on plate in a manner of grabbing or adsorbing, i.e., carrier can be machine
Tool arm or grabbing device.
Alternatively, control system control is moved to the side of cleaning machine on plate with the carrier of bearing function, cleaned on plate
Machine is automatically moved on carrier.Setting matches the device of induction with cleaning machine on plate on carrier, or passes through control system
The connection of cleaning machine and carrier and the placement of cleaning machine on plate on plate are realized in the control of system.
Alternatively, the carrier of control system control bridge like connects photovoltaic panel and target photovoltaic panel, cleaning machine moves automatically on plate
It moves to carrier.
Above-mentioned separate mode can be carrier and realize that cleaning machine is empty on plate by mechanical systems such as absorption, crawl, clampings
Between position change.It is of course also possible to be that the structure that carrier is acted on as bridge type exists, cleaning machine is actively moved on plate
On carrier, in the case where space allows, the air-bridge or track that carrier is set up can use, cleaning machine is direct on plate
Complete the leap between adjacent photovoltaic plate string.If space is inadequate, cleaning machine is stayed on carrier on plate, using carrier as
The platform of the one similar the same middle transition property of ferryboat.After carrier is adjusted in place, the sensor on carrier is equally anti-
It is fed to a signal, this adjustment mode is mainly coped with when using bridge type, rail mounted or ferryboat formula carrier.
In three kinds of modes provided by the present embodiment, realized by using the carrier of different structure and operating process
Connection of the carrier to cleaning machine on plate.
In above-mentioned specific embodiment, above-mentioned steps S1 includes:
Control system obtains the location information of cleaning machine on plate, and location information is sent to control system.
Control system is based on location information and is calculated, and obtains the carrying information of cleaning machine on carrier plate for carrying.
Control system is based on carrying information control carrier adjustment posture and connect with cleaning machine on plate.
Control system controls carrier starting to the grasping manipulation of cleaning machine on plate, and cleaning machine on plate is made to leave present bit
It sets.
It should be noted that the location information of cleaning machine is cleaning machine on plate on the plate that carrier obtains in above-mentioned steps
Position.Control system mainly reaches the position of cleaning machine on suitable crawl plate to carrier based on the calculating that position carries out
It calculates, therefore carrying information is the result arrived calculated.
It should be noted that all for obtaining position, acquisition location information, obtaining relative positional relationship in the present invention
Operation can be completed by devices such as sensor, monitors, and these devices belong to control system, can be with control system sheet
Body carries out the transmitting of interaction and the control operation of data.Due to the handling characteristics and needs of sensor, monitor etc., need it
It is mounted on corresponding component, such as correspondence is mounted on carrier or plate on cleaning machine, but they still should be control system
A part in structure.
Specifically, in a specific embodiment, carrier is detected on photovoltaic panel upper plate by sensor in the above process
The position of cleaning machine, and the posture of carrier is adjusted through system-computed inside the control system according to the position of cleaning machine on plate
It is matching.After matching, there is corresponding sensor feedback signal in place on carrier or plate on cleaning machine, if received
Less than signal in place, carrier continues to detection, adjustment posture, until adjusting to can receive signal in place.
On the basis of any one above-mentioned embodiment, in step S1 " control system control carrier band movable plate on
Cleaning machine leaves photovoltaic panel " the step of, further includes:
Cleaning machine is to induction information is sent on control system control panel between carrier, when cleaning machine receives carrying on plate
After the feedback signal of device, control system control carrier is stopped operation, and control system obtains cleaning machine signal in place on plate.
In the present embodiment, by the way of onboard sending induction information between cleaning machine and carrier, by feedback letter
Number plate on cleaning machine can to control system send confirmation message.Control system senses cleaning machine on plate in another way
The feedback signal received then controls carrier and stops operation, after carrier band movable plate supernatant washing machine stops operation, control system
System obtains cleaning machine signal in place on plate.It should be noted that signal can be setting onboard to cleaning machine in place on above-mentioned plate
What the sensor of cleaning machine obtained, and send the control system ontology of control system to.
On the basis of any one above-mentioned embodiment, above-mentioned steps S2 can be specifically included:
After getting cleaning machine signal in place on plate, control system controls shifter and drives carrier to target photovoltaic panel
It is mobile.Control system control detection is arrived at a distance from bit flag with target photovoltaic panel, and when distance satisfaction, which is placed, to be required, control is
System control shifter slows down and adjusts the positional relationship to bit flag of shifter Yu target photovoltaic panel, control system after the completion of adjustment
System control shifter takes corresponding actions.
It should be noted that it is exactly to control shifter to target position that control system control shifter, which drives carrier movement,
It sets, the movement of target photovoltaic panel.
Specifically, after cleaning machine is in place on the carrier on plate, control system ontology receives the feedback in place of sensor,
Control system control shifter starts to move, and mobile direction is provided by the navigation system inside shifter.It should be noted that
Navigation system inside shifter logically can be understood as a part of control system, it is understood that make shifter
A part, that is to say, that the movement of shifter can be what control system controlled, can also be completed by its own.
In the moving process of shifter, the sensor on carrier can check the mark in place of next photovoltaic panel string
Will, once detecting this to bit flag, shifter reduces speed now and adjusts the positional relationship for itself arriving bit flag relative to this,
During this, the sensor on carrier is feeding back always shifter and positional relationship of the photovoltaic panel to bit flag, Zhi Daoyi
Dynamic device is adjusted to the position of default, and stops moving.Certainly, the sensor of this test object position also may be mounted at
On shifter, the realization that cleaning machine shifts on entire cleaning process and plate is not influenced, when differing only in internal system calculating
Referential it is different.It should be noted that the sensor etc. is required to connect with control system ontology, the position that will be sensed
Information etc. is sent to control system.
On the basis of any one above-mentioned embodiment, above-mentioned steps S3 includes:
Step S31: control system controls the location information that carrier obtains target photovoltaic panel, and control system is according to target light
It lies prostrate on the plate on the location information adjustment carrier of plate after the posture of cleaning machine, control system controls carrier for cleaning machine on plate
It is placed in target photovoltaic panel.
Step S32: in place whether the positional relationship of cleaning machine and target photovoltaic panel in control system detection plate；If it is,
Then continue to execute S4；S31 is executed if it has not, then returning.
It should be noted that control system controls carrier and detects target after shifter stops in place in above-mentioned steps S2
Cleaning machine on plate is placed in target photovoltaic panel by photovoltaic Board position, and cleaning machine posture in adjustment plate.In removing for previous step
After fortune device band movable plate supernatant washing machine leaves current location, carrier is indeclinable, locking relative to the posture of shifter, such as
Fruit ground does not have topography variation, and photovoltaic panel assembly does not change, then on plate cleaning machine relative to target photovoltaic panel position with
In previous step should when do not have variation.So cleaning machine can be placed directly into target photovoltaic panel on plate, but in order to keep away
Exempt from the generation of error or special circumstances, is provided with the operation of reply special circumstances, i.e. step S31, plate supernatant in the above-mentioned methods
The posture of washing machine is associated with carrier at this time.
Optionally, if the branch mode of cleaning machine is different on plate, such as shifted by the carrier of bridge type, then on
Stating adjust in step should be that the posture of carrier is matched with photovoltaic panel, and sensor feedback is believed in place after similarly matched success
Number.
Sensor in step S32 on plate on cleaning machine is detected in place, otherwise feedback signal after confirmation in place continues
Pose adjustment, until determining that cleaning machine is in place on plate.
For the different cooperation control plannings of cleaning machine on above-mentioned shifter, plate, wherein in the case where one-to-one,
Carrier receive release after the signal and plate on rigid connection between cleaning machine.Carrier feedback signal is to plate after releasing
Upper cleaning machine and shifter, cleaning machine and shifter receive the signal, each self-starting on plate.Cleaning machine starting cleaning journey on plate
Sequence, and start mobile in photovoltaic plate face；Same time shifter starts to move, keep to the position tracking of cleaning machine on plate and
Speed tracing.The two data have corresponding sensor acquisition to feed back to control system.In moving process later, to plate
The detection of the speed and position of upper cleaning machine and shifter carries out always, and feeds back to system and do real-time adjustment.
In addition, there are also be also with the same stepping of the movement of cleaning machine on shifter and plate to the Mark Detection in place of photovoltaic panel
In row.Detect photovoltaic panel to after bit flag, cleaning machine stops on shifter and plate, optionally, can open down at this time
Primary changes plate cleaning method.
And be that a shifter services cleaning machine on more platens for one-to-many mode feature, it assists cleaning on these plates
Machine changes plate operation.Movement speed of the quantity of cleaning machine by cleaning machine on shifter, plate, the influence of photovoltaic panel string length on plate.
One-to-many mode feature shifter is completely separated with cleaning machine on plate, is disconnected all mechanical connections.Sensor feedback is removed
After the completion of transporting device disengagement movement, cleaning machine starts on plate, starts cleaning and along photovoltaic panel plate face, Autonomy it is mobile.It is moving
During dynamic, the sensor on plate on cleaning machine is always maintained at the detection to photovoltaic panel to bit flag, until cleaning is moved to light
Plate string cleaning task end position is lied prostrate, sensor detects the position, and then cleaning machine stops movement on plate, cleans on plate at this time
Machine changes plate auxiliary instruction by wireless telecommunications, to shifter transmission, and calling shifter is drawn close to oneself.On it should be noted that
The control main body for stating control process is control system.
In addition to photovoltaic array straddle cleaning method provided by above-described embodiment, the present invention also provides one kind for realizing upper
State the photovoltaic array straddle cleaning device of photovoltaic array straddle cleaning method.The device includes: carrier 2, shifter 3, control
Cleaning machine 1 in system and plate for cleaning photovoltaic panel 4；Control system respectively with cleaning machine 1, carrier 2 and shifter 3 on plate
Control connection.
Control system for control carrier 2 obtain plate on 1 position of cleaning machine, control carrier 2 adjust to plate
Upper cleaning machine 1 or with the matched posture of 1 place photovoltaic panel of cleaning machine 4 on plate, control system controls carrier 2 with cleaning on movable plate
Machine 1 leaves photovoltaic panel 4；Controlling shifter 3 drives carrier mobile to target photovoltaic panel 4, closes when with the position of target photovoltaic panel 4
When system's satisfaction placement requires, control system controls shifter 3 and stops movement；Control the phase of carrier 2 adjustment and target photovoltaic panel 4
To position, and controls carrier 2 and cleaning machine 1 on plate is placed in target photovoltaic panel 4；Cleaning machine 1 starts and moves on control panel
Dynamic cleaning target photovoltaic panel 4.
It should be noted that on plate in the present invention cleaning machine 1 be characterized in one can be mobile on 4 surface of photovoltaic panel,
The device that 4 face of photovoltaic panel is cleaned in mobile process.The structure feature of cleaning machine 1 is with wiper mechanism and shifting on plate
Motivation structure, and the sensor for detecting photovoltaic panel 4 to bit flag.Carrier 2 is characterized in that one is cleaned on transfer blade
There is being directly connected to mechanically when machine 1 with cleaning machine 1 on plate, this connection can be flexible be also possible to it is rigid；This
A connection can be always maintained at, the device that can also be released after the completion of the operation of cleaning machine 1 on transfer blade.The device is also equipped with
The sensor of cleaning machine 1 and other setting positions in detection plate.Shifter 3 is characterized in that itself has and actively moves energy
Power, and there is direct connection relational mechanically with carrier 2, and this be connected in entire 4 cleaning process of photovoltaic panel all
It can not release.Onboard cleaning machine 1 goes here and there across adjacent photovoltaic plate 4 or when 4 row of photovoltaic panel, necessarily the carrying of shifter 3/
It is completed under the assistance of the operations such as traction/carrying.The device has navigation system and other determine the sensor of a situation.
It should be noted that onboard the relationship of cleaning machine 1 and shifter 3 is to clean on plate in one-to-one embodiment
Machine 1 is cleaning device that can be mobile in photovoltaic surface, and carrier 2 follows cleaning machine 1 on plate to move in its vicinity with shifter 3
Dynamic, there are wired connection between cleaning machine 1 and carrier 2, shifter 3 on plate, this connection, can also be with either flexible
It is rigid.Cleaning machine 1 on one shifter 3 one platen of service.Onboard the relationship of cleaning machine 1 and shifter 3 is multipair
In one embodiment, on plate cleaning machine 1 on 4 face autonomous of photovoltaic panel, plate cleaning machine 1 and carrier 2, with shifter 3 it
Between it is connectionless.One shifter 3 can service cleaning machine 1 on several platens.
Optionally, the connection on plate between cleaning machine 1 and shifter 3 can have following a variety of situations:
Referring to FIG. 2, having mechanical connection between cleaning machine 1 and shifter 3 on plate in Fig. 2, this attachment device is exactly
Carrier 2 can be flexible, and be also possible to rigid.Shifter 3 can be the Mobile Equipment in ground running.
Referring to FIG. 3, having mechanical connection between cleaning machine 1 and shifter 3 on plate in Fig. 3, this attachment device is exactly
Carrier 2 can be flexible, and be also possible to rigid.Shifter 3 is the flight equipment to fly in the sky.
Referring to FIG. 4, having mechanical connection between cleaning machine 1 and shifter 3 on plate in Fig. 4, this attachment device is exactly
Carrier 2 can be flexible, and be also possible to rigid.Shifter 3 flies in the sky, and shifter 3 is configured with ground
Face auxiliary device for moving.
Referring to FIG. 5, not being mechanically connected between cleaning machine 1 and shifter 3 on plate in Fig. 5, carrier 2 can be soft
Property, it is also possible to rigid, the form of similar bridge, track.Shifter 3 is the Mobile Equipment in ground running.
The application method of photovoltaic array straddle cleaning device provided by the present invention may refer to above-mentioned photovoltaic array straddle
Cleaning method.
On the basis of above-described embodiment, control system includes:
Control system ontology, for carrying out operation and control, control system to cleaning machine 1 on carrier 2, plate and shifter 3
Cleaning machine 1 and shifter 3 on system ontology control connection carrier 2, plate；
For the position-detection sensor of test object position, position-detection sensor is set on carrier 2, and with control
System ontology connection processed；
And/or it is set to for obtaining with the range sensor of the tag distance in place of target photovoltaic panel, range sensor
On shifter 3 or carrier 2, and it is connect with control system ontology；
And/or whether cleaning machine 1 is placed on the sensors in place in target photovoltaic panel, sensors in place on tablet
It is set on plate on cleaning machine 1, and is connect with control system ontology；
And/or for when cleaning machine 1 cleans target photovoltaic panel on plate, cleaning machine 1 and target photovoltaic panel in detection plate
The distance measuring sensor of tag distance in place, distance measuring sensor are set on plate on cleaning machine 1, and are connect with control system ontology.
The usage mode and signal transfer mode of above-mentioned each sensor may refer in specification for photovoltaic array across
The introduction of plate cleaning method.
On the basis of any one above-mentioned embodiment, cleaning machine 1 including cleaning machine main body frame on plate and is set on plate
Be placed in cleaning device on the plate on plate on cleaning machine main body frame, on plate cleaning device include brush roll, and/or hydraulic nozzle and/
Or scraper plate scraping article, and/or dust catcher.Can be cleaning device on any one above-mentioned plate, either for above-mentioned any two or
The combination of cleaning device on multiple plates.
Optionally, the type of carrier 2 can there are many selection, can for mechanical arm or have multivariant mechanical arm,
Link mechanism can make the handling process of cleaning machine 1 on plate more convenient, control more various using mechanical arm as carrier 2
Change.
Optionally, shifter 3 includes multiple module compositions such as moving parts, drive system, navigation system, feed system
Mobile device, wherein navigation system includes GPS navigation device, laser navigation device, two-dimensional code scanning omniselector or magnetic stripe omniselector.It can
Choosing, shifter 3 can be any one above-mentioned omniselector, or the combination for several above-mentioned omniselectors.
The present invention provides the corresponded manners about cleaning machine 1 on shifter 3 and plate, including one-to-one and one-to-many, sheet
Corresponding one-to-many device will be provided in embodiment.In a specific embodiment provided by the present invention, based on above-mentioned any
One embodiment, the control of shifter 3 connects cleaning machine 1 on a plate, as one-to-one.Shifter 3 can control connection at least
Cleaning machine 1 on two plates.That is, when controlling cleaning machine 1 at least two plates of connection by shifter 3, it is as one-to-many
Control.It should be noted that above-mentioned control connection refer to shifter 3 it is selectable, can on-off at least two plates
The control of cleaning machine 1 connects.For cleaning machine 1 on the plate currently without control, the needs of shifter 3 are disconnected with it.
Alternatively, the mode of multi-to-multi can further be arranged.Control system at least two shifters 3 of connection, at least two
A 3 cross-over control of shifter connects cleaning machine 1 on multiple plates.
It may refer to above-mentioned photovoltaic array straddle cleaning method for one-to-many usage mode, further, control system
System at least two shifters 3 of connection, the set-up mode that at least two shifters, 3 cross-over control connects cleaning machine 1 on multiple plates are
For N to the control mode of N, this control mode can be derived by one-to-many mode.
It should be noted that control system provided by the present invention includes the control system ontology and use as control axis
In the sensing device being arranged on functional component.What control system connected two explanations of shifters 3 is control system and shifter 3
Connection relationship is that control system ontology and sensor are connected with shifter 3, in relation to the sensor being arranged on functional component
The explanation for also belonging to control system please refers to above.
In addition to the major part of photovoltaic array straddle cleaning device provided by above-described embodiment, the photovoltaic array straddle is clear
Refer to the prior art for the structure of other each sections of cleaning device, and repeats no more herein.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Photovoltaic array straddle cleaning method provided by the present invention and device are described in detail above.It answers herein
With a specific example illustrates the principle and implementation of the invention, the explanation of above example is only intended to help to manage
Solve method and its core concept of the invention.It should be pointed out that for those skilled in the art, not departing from
, can be with several improvements and modifications are made to the present invention under the premise of the principle of the invention, these improvement and modification also fall into this hair
In bright scope of protection of the claims.
Claims (5)
1. a kind of photovoltaic array straddle cleaning method, which is characterized in that be suitable for cleaning machine, shifter on carrier, plate
With the cleaning device of control system, this method comprises:
S1: the control system obtains cleaning machine position on the plate, the control carrier adjust to on the plate
Cleaning machine controls the carrier and drives institute with the cleaning machine place matched posture of photovoltaic panel, the control system on the plate
It states cleaning machine on plate and leaves the photovoltaic panel；
S2: the control system controls the shifter and drives the carrier mobile to target photovoltaic panel, when with the target
When the positional relationship satisfaction placement of photovoltaic panel requires, the control system controls the shifter and takes corresponding actions；
S3: the control system controls the relative position of the carrier adjustment and the target photovoltaic panel, and removes described in control
Cleaning machine on the plate is placed in the target photovoltaic panel by fortune device；
S4: the control system controls the mobile cleaning target photovoltaic panel of cleaning machine on the plate；
On comprising a plate when cleaning machine, the control system controls that cleaning machine on the plate is mobile to clean the target
When photovoltaic panel, the control system controls the shifter and cleaning machine on the plate is followed to be moved, the control system inspection
Distance to bit flag of the cleaning machine away from the target photovoltaic panel on the plate is surveyed, when detecting that it is pre- that the distance is less than or equal to
If when minimum range, cleaning machine stops movement on the shifter and the plate, and returns and execute the S1；
On comprising multiple plates when cleaning machine, the control system controls that cleaning machine on the plate is mobile to clean the target
When photovoltaic panel, the control system controls cleaning machine on the carrier and the plate and releases connection, the control system control
To complete cleaning machine on the plate that the corresponding target photovoltaic panel is cleaned mobile to any for the shifter, or to the shifting
The initial position of dynamic device is mobile；The control system detects the bit flag that arrives of cleaning machine on the plate away from the target photovoltaic panel
Distance, when detecting that the distance is less than or equal to default minimum range, cleaning machine is shut down on the plate；And described in returning
S1；
In the S1, the control system controls the carrier and drives the step of cleaning machine leaves the photovoltaic panel on the plate
Include:
The control system controls the carrier and is received cleaning machine on the plate in a manner of grabbing, adsorbing, clamp, lift
It rises；
Or, the side that there is the carrier of bearing function to be moved to cleaning machine on the plate for the control system control, institute
Cleaning machine on plate is stated to be automatically moved on the carrier；
Or, the carrier of the control system control bridge like connects the photovoltaic panel and the target photovoltaic panel, the plate
Upper cleaning machine is automatically moved on the carrier；
In the S1, the control system controls the step that the carrier drives cleaning machine on the plate to leave the photovoltaic panel
Suddenly, further includes:
Cleaning machine sends induction information between the carrier on the control system control plate, cleans when on the plate
After machine receives the feedback signal of the carrier, the control system controls the carrier and stops operation, the control system
System obtains cleaning machine signal in place on plate；
The S2 includes:
After getting cleaning machine signal in place on the plate, the control system controls the shifter and drives the carrier
It is mobile to the target photovoltaic panel；
The control system control detection is arrived at a distance from bit flag with the target photovoltaic panel, is wanted when the distance meets to place
When asking, the control system control the shifter slow down and adjust the shifter and the target photovoltaic panel to bit flag
Positional relationship, the control system controls the shifter and takes corresponding actions after the completion of adjustment.
2. photovoltaic array straddle cleaning method according to claim 1, which is characterized in that the S3 includes:
S31: the control system controls the location information that the carrier detects the target photovoltaic panel, the control system root
It is adjusted on the plate on the carrier after the posture of cleaning machine according to the location information of the target photovoltaic panel, the control system
System controls the carrier and cleaning machine on the plate is placed in the target photovoltaic panel；
S32: whether in place the control system detects the positional relationship of cleaning machine and the target photovoltaic panel on the plate；If
It is then to continue to execute the S4；The S31 is executed if it has not, then returning.
3. a kind of photovoltaic array straddle cleaning device, which is characterized in that including carrier, shifter, control system and be used for clear
Wash cleaning machine on the plate of photovoltaic panel；The control system is connected with cleaning machine, carrier and shifter control on the plate respectively；
The control system is for obtaining cleaning machine position on plate, the control carrier adjust to cleaned on the plate
Machine controls the carrier and drives the plate with the cleaning machine place matched posture of photovoltaic panel, the control system on the plate
Upper cleaning machine leaves the photovoltaic panel；Controlling the shifter drives the carrier mobile to target photovoltaic panel, when with it is described
When the positional relationship satisfaction placement to bit flag of target photovoltaic panel requires, the control system controls the shifter and takes phase
It should act；The relative position of the carrier adjustment and the target photovoltaic panel is controlled, and controls the carrier for the plate
Upper cleaning machine is placed in the target photovoltaic panel；Control the mobile cleaning target photovoltaic panel of cleaning machine on the plate；
The control system includes:
Control system ontology, for carrying out operation and control, institute to cleaning machine on the carrier, the plate and the shifter
State the control of control system ontology connect the carrier, cleaning machine and the shifter on the plate；
For the position-detection sensor of test object position, the position-detection sensor is set on the carrier, and
It is connect with the control system ontology；
Institute is set to the range sensor of the tag distance in place of the target photovoltaic panel, the range sensor for obtaining
It states on shifter or the carrier, and is connect with the control system ontology；
The sensors in place whether being placed in the target photovoltaic panel for incuding cleaning machine on the plate, it is described to sense in place
Device is set on the plate on cleaning machine, and is connect with the control system ontology；
For when cleaning machine cleans the target photovoltaic panel on the plate, cleaning machine and the target photovoltaic on the detection plate
The distance measuring sensor of the tag distance in place of plate, the distance measuring sensor are set on the plate on cleaning machine, and with the control
System ontology connection processed.
4. photovoltaic array straddle cleaning device according to claim 3, which is characterized in that cleaning machine includes plate on the plate
It upper cleaning machine main body frame and is set to cleaning device on the plate on the plate on cleaning machine main body frame, dress is cleaned on the plate
It sets including brush roll, and/or hydraulic nozzle, and/or scraper plate scraping article, and/or dust catcher；
The carrier include mechanical arm or have multivariant link mechanism；
The shifter includes moving parts and the navigation system that is set on the moving parts, and the navigation system includes
GPS navigation device, and/or laser navigation device, and/or two-dimensional code scanning omniselector, and/or magnetic stripe omniselector.
5. photovoltaic array straddle cleaning device according to claim 4, which is characterized in that the shifter control connection one
Cleaning machine on a plate；
Or cleaning machine on shifter control at least two plates of connection；
Or the control system connects at least two shifters, at least two shifter cross-over controls connect multiple institutes
State cleaning machine on plate.
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| CN201611019978.8A CN106345781B (en) | 2016-11-17 | 2016-11-17 | A kind of photovoltaic array straddle cleaning method and device |
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| CN201611019978.8A CN106345781B (en) | 2016-11-17 | 2016-11-17 | A kind of photovoltaic array straddle cleaning method and device |
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Families Citing this family (6)
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| WO2018090569A1 (en) * | 2016-11-17 | 2018-05-24 | 浙江国自机器人技术有限公司 | Method and apparatus for cleaning photovoltaic array cross panel |
| CN107977010A (en) * | 2017-11-23 | 2018-05-01 | 浙江国自机器人技术有限公司 | A kind of cleaning robot control method applied to photovoltaic array |
| CN107932520B (en) * | 2017-11-23 | 2020-11-06 | 浙江国自机器人技术有限公司 | Operation method of split robot |
| CN110645981B (en) * | 2019-10-15 | 2020-08-21 | 四方智能(武汉)控制技术有限公司 | Unmanned ship navigation system and method for cleaning pile foundation type waterborne photovoltaic module |
| CN111760836A (en) * | 2020-05-27 | 2020-10-13 | 深圳怪虫机器人有限公司 | Method for cleaning photovoltaic panel in solar photovoltaic array |
| CN112705495B (en) * | 2020-12-10 | 2023-02-03 | 深圳市凯之成智能装备有限公司 | Photovoltaic cleaning mechanism and control method thereof |
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| CN203277407U (en) * | 2013-04-25 | 2013-11-06 | 苏州盖娅智能科技有限公司 | Intelligent snow removal device |
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| CN201871499U (en) * | 2010-07-07 | 2011-06-22 | 江阴博润新能源科技有限公司 | Cleaning device for surface of photovoltaic cell panel |
| CN201815506U (en) * | 2010-09-15 | 2011-05-04 | 晶诚（郑州）科技有限公司 | Large-range cleaning device of solar cell panel |
| CN202010664U (en) * | 2011-04-02 | 2011-10-19 | 唐山市拓又达科技有限公司 | Automatic dust removal device for solar panel |
| CN202105809U (en) * | 2011-05-12 | 2012-01-11 | 特变电工新疆新能源股份有限公司 | Solar panel cleaning device |
| JP6475246B2 (en) * | 2013-09-05 | 2019-02-27 | アリオン エナジー，インコーポレーテッド | System, vehicle and method for maintaining a rail-based array of photovoltaic modules |
| CN104209299B (en) * | 2014-08-28 | 2018-12-14 | 金丹 | Solar power station integrates cleaning device |
| CN105964573A (en) * | 2016-07-12 | 2016-09-28 | 河南森源重工有限公司 | Cantilever crane structure and solar cell panel cleaning vehicle |
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| CN203277407U (en) * | 2013-04-25 | 2013-11-06 | 苏州盖娅智能科技有限公司 | Intelligent snow removal device |
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